JP2021112419A - Autonomous travel type vacuum cleaner - Google Patents

Abstract

To improve detection accuracy of a sensor included in an autonomous travel type vacuum cleaner.SOLUTION: An autonomous travel type vacuum cleaner includes: a housing; a sensor installed in the housing to detect circumstances around the housing; and side brushes 8 for cleaning surrounding area of the housing. The sensor is disposed in a position where parts of the side brushes 8 pass through the vicinity thereof when the side brushes 8 clean the surrounding area of the housing.SELECTED DRAWING: Figure 5

Description

The present disclosure relates to an autonomous traveling vacuum cleaner.

In recent years, many patent applications have been filed for technologies relating to autonomous traveling vacuum cleaners that automatically clean the inside of a room while the user is away. For example, Patent Document 1 describes an autonomous traveling type vacuum cleaner in which a distance measuring sensor is mounted on the front surface of a housing.

Japanese Unexamined Patent Publication No. 2014-226266

However, in a configuration in which a distance measurement sensor such as an ultrasonic sensor or an infrared sensor is mounted on the front surface of the housing, there is a possibility that dust adheres to the distance measurement sensor and obstacle detection cannot be performed accurately. Such a problem is likely to occur especially when the distance measurement sensor is mounted on the lower front side of the housing.

In order to solve the above problems, the autonomous traveling type vacuum cleaner according to a certain aspect of the present disclosure includes a housing, a sensor provided on the housing for detecting a situation around the housing, and the surroundings of the housing. It is equipped with a brush for cleaning. The sensor is placed at a position where a part of the brush passes in the vicinity when the brush cleans the periphery of the housing.

According to the present disclosure, it is possible to improve the detection accuracy of the sensor provided in the autonomous traveling type vacuum cleaner.

It is a perspective view of the autonomous traveling type vacuum cleaner which is this Example device. It is a top view of the autonomous traveling type vacuum cleaner which is this Example device. It is a left side view of the autonomous traveling type vacuum cleaner which is this Example device. It is a front view of the autonomous traveling type vacuum cleaner which is this Example device. It is a bottom view of the autonomous traveling type vacuum cleaner which is this Example device. It is a perspective view seen from the front lower side of the autonomous traveling type vacuum cleaner which is this Example device. It is a partially enlarged side view for demonstrating the outline of Example 2. FIG. It is a partially enlarged side view for demonstrating the outline of Example 2. FIG. It is a partially enlarged side view for demonstrating the outline of Example 2. FIG. It is a perspective view which disassembled the part near LIDAR. FIG. 10 is a view of the base member, the switch lever, and the lidar cover shown in FIG. 10 as viewed from the rear in FIG. It is a perspective view which looked at the base member from diagonally below. FIG. 10 is a view of the base member, the switch lever, and the lidar cover shown in FIG. 10 as viewed from the rear in FIG. It is the bottom view which looked at the base member from the bottom. It is a right front perspective view of the autonomous traveling type vacuum cleaner of Example 3. FIG. It is a left front perspective view of the autonomous traveling type vacuum cleaner of Example 3. FIG. It is a left front perspective view which shows the internal structure of the autonomous traveling type vacuum cleaner of Example 3. FIG. It is a top view which shows the internal structure of the autonomous traveling type vacuum cleaner of Example 3. FIG. It is a figure which shows the exhaust path of the autonomous traveling type vacuum cleaner of Example 3. It is a partially enlarged view of the left drive wheel and the wheel support member of the autonomous traveling type vacuum cleaner of Example 4. FIG. It is a right side view of the autonomous traveling type vacuum cleaner of Example 4. It is a figure for demonstrating how the autonomous traveling type vacuum cleaner of Example 5 detects the shape of an obstacle. It is a block diagram of this Example apparatus. It is a functional block diagram of a map making part. It is a flow chart which shows the operation of the autonomous traveling type vacuum cleaner of Example 5. It is a flow chart which shows the operation of the autonomous traveling type vacuum cleaner of Example 6. It is a figure which shows the map of the room which the autonomous traveling type vacuum cleaner of Example 6 cleans.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same or corresponding parts will be designated by the same reference numerals, and duplicate description will be omitted. Moreover, the present invention is not limited by the present embodiment.

[Example 1]
FIG. 1 is a perspective view of an autonomous traveling type vacuum cleaner which is the apparatus of this embodiment. In FIG. 1, the front side, the rear side, the left side, and the right side of the autonomous traveling type vacuum cleaner are illustrated by arrows, respectively.

In FIG. 1, the housing 1 of the autonomous traveling type vacuum cleaner has an upper body 2 and a lower body 3, and a bumper 4 is arranged in front of the housing 1. One or more collision detection switches (not shown) are arranged inside the bumper 4, and when the bumper 4 collides with an obstacle, the bumper 4 moves toward the inside of the housing 1 and is switched. Is turned on, and it is detected that the bumper 4 has collided with an obstacle.

A cover 5 is arranged on the upper surface of the housing 1 and behind the bumper 4. A dust collecting container (not shown) is arranged inside the cover 5, and when the user presses the cover 5, the front or the rear of the cover 5 comes off, and the dust collecting container can be taken out from the housing 1.

A LIDAR (Light Detection and Ranking) 6 is arranged behind the cover 5. The LIDAR 6 can detect obstacles and the like around the housing 1 by rotating the light emitting unit and the light receiving unit around the center of the LIDAR 6. It is also possible to create a map of a room by using this LIDAR6.

FIG. 2 is a plan view of the autonomous traveling type vacuum cleaner which is the apparatus of this embodiment. In FIG. 2, the front side, the rear side, the left side, and the right side of the autonomous traveling type vacuum cleaner are illustrated by arrows, respectively.

In FIG. 2, a bumper 4 having a substantially U-shape when viewed from above is arranged in front of the housing 1, and an upper body 2 is arranged behind the housing 1. A cover 5 is arranged between the bumper 4 and the upper body 2, and a LIDAR 6 is arranged behind the cover 5.

The bumper 4 is urged to the front of the housing 1 by a spring (not shown) arranged inside, and there is a gap between the bumper 4 and the upper body 2. When the bumper 4 collides with an obstacle, the bumper 4 can move backward by this gap against the force of the spring.

FIG. 3 is a left side view of the autonomous traveling type vacuum cleaner which is the present embodiment. In FIG. 3, the front side, the rear side, the upper side, and the lower side of the autonomous traveling type vacuum cleaner are illustrated by arrows, respectively.

A bumper 4 is arranged in front of the housing 1, and an upper body 2 is arranged behind the bumper 4. Exhaust ports 7 are formed on the left and right side surfaces of the upper body 2, and LIDAR 6 is arranged on the rear upper surface of the upper body 2. A side brush 8 is arranged in front of the lower body 3, and a rear wheel 9 is arranged in the rear.

FIG. 4 is a front view of the autonomous traveling type vacuum cleaner which is the present embodiment. In FIG. 4, the upper side, the lower side, the left side, and the right side of the autonomous traveling type vacuum cleaner are illustrated by arrows, respectively.

Two ultrasonic sensors 10 and an upper left sensor 11 and an upper right sensor 12 composed of a light emitting element and a light receiving element are provided on the front surface of the bumper 4. Further, the lower body 3 has a lower left sensor 13 and a lower right sensor 14 composed of a light emitting element and a light receiving element, and side brushes 8 are arranged on both front left and right sides of the lower body 3. The side brush 8 may be arranged on either the front right side or the left side of the lower body 3.

The upper left sensor 11 and the lower left sensor 13 are at substantially the same position in the vertical direction of the housing 1. Similarly, the upper right sensor 12 and the lower right sensor 14 are at substantially the same position in the vertical direction of the housing 1.

As is clear from FIG. 3, the front of the lower body 3 is a slope 15 inclined from the front to the rear. Two recesses 16 are formed on the slope 15, and a lower left sensor 13 and a lower right sensor 14 are arranged in each of the recesses 16.

Further, each of the lower left sensor 13 and the lower right sensor 14 is formed with a window portion 17 which is a surface substantially parallel to the direction perpendicular to the floor surface in a state where the housing 1 is placed on the floor surface. A light emitting element and a light receiving element are arranged inside the unit 17. As a result, even if dust rises from the floor surface due to the rotation of the side brush 8, it is possible to reduce the accumulation of dust in the recess 16 in which the light emitting element and the light receiving element of the lower left sensor 13 and the lower right sensor 14 are arranged. .. Further, a side brush 8 is arranged in the vicinity of the window portion 17, and when the side brush 8 rotates, the wind generated by the rotation of the side brush 8 hits the window portion 17, and the dust attached to the window portion 17 is blown. Can be removed by. As a result, it is possible to prevent the lower left sensor 13 and the lower right sensor 14 from erroneously detecting due to dust adhering to the window portion 17.

FIG. 5 is a bottom view of the autonomous traveling type vacuum cleaner which is the present embodiment. In FIG. 5, the front side, the rear side, the left side, and the right side of the autonomous traveling type vacuum cleaner are illustrated by arrows, respectively.

In FIG. 5, a rear wheel 9 is arranged behind the lower body 3, and a battery 18 made of a secondary battery such as a lithium ion battery is arranged in front of the rear wheel 9. A right drive wheel 19 and a left drive wheel 20 are arranged substantially in the center of the lower body 3, and a wheel support member 21 is connected to each of the right drive wheel 19 and the left drive wheel 20. The wheel support member 21 is movable in the vertical direction of the housing 1 with the shaft A as the axis, and the two wheel support members 21 are respectively springs for wheels (not shown) between the two wheel support members 21 and the lower body 3. ) Is arranged, and the wheel support member 21, the right drive wheel 19, and the left drive wheel 20 are urged toward the floor surface by the spring for the wheel.

In FIG. 5, a part of the battery 18 is located between the right drive wheel 19 and the left drive wheel 20, but the battery 18 may be arranged behind the right drive wheel 19 and the left drive wheel 20. good. However, in this embodiment, the battery 18 is arranged behind the housing 1 so that the center of gravity of the housing 1 is located behind the housing 1. Therefore, it is preferable that at least a part of the battery 18 is located between the shafts A of the two wheel support members 21.

In FIG. 5, a suction port 22 for sucking dust is formed in front of the battery 18 and in front of the right drive wheel 19 and the left drive wheel 20, and inside the suction port 22. , The main brush 23 is rotatably supported.

Step sensors 24 are arranged on the left and right sides of the main brush 23, respectively, and the step sensor 24 includes a light emitting portion and a light receiving portion, and detects that the housing 1 is approaching the step.

In FIG. 5, the tip of the step sensor 24 is located on the axis of the rotation axis of the main brush 23 or at substantially the same position. Alternatively, the tip of the step sensor 24 may be arranged behind the axis of the rotation axis of the main brush 23.

There is a recess 25 in front of the step sensor 24, and the side brush 8 is arranged around the substantially center of the recess 25. The side brush 8 rotates toward the suction port 22. Therefore, in FIG. 5, the left side brush 8 rotates clockwise, and the right side brush 8 rotates counterclockwise.

In this embodiment, the center of gravity G of the housing 1 is located behind the central portion of the main body as shown in FIG. Therefore, it is not necessary to provide the step sensor 24 in front of the lower body 3. Specifically, even if the housing 1 advances in the direction in which there is a step and the housing 1 advances until the step sensor 24 behind the side brush 8 detects the step, the center of gravity G of the housing 1 remains. Since it is located behind the right drive wheel 19 and the left drive wheel 20, it does not fall on the step and can be cleaned to the very limit of the step. Further, since it is not necessary to provide the step sensor 24 in front of the lower body 3, the manufacturing cost can be reduced.

FIG. 6 is a perspective view of the autonomous traveling type vacuum cleaner of the present embodiment as viewed from the front lower side. In FIG. 6, the front of the lower body 3 is a slope 15, and recesses 16 are formed on the left and right sides of the slope 15, respectively. Further, a lower left sensor 13 and a lower right sensor 14 are arranged in each of the recesses 16.

In FIG. 6, recesses 25 on which side brushes 8 are arranged are formed on the left and right sides in front of the lower body 3, and the recesses 25 are formed up to the vicinity of the recess 16. The length of the side brush 8 is a length that protrudes outside the housing 1 from the recess 25, and since the recess 25 is curved toward the vicinity of the recess 16, the side brush 8 is provided at the suction port 22. Not only can it rotate smoothly toward it, but the wind generated by the rotation of the side brush 8 can be blown to the window portion 17 inside the recess 16. Therefore, the dust attached to the window portion 17 can be blown off by the wind.

[Example 2]
Next, Example 2 will be described. Since the structure of the autonomous traveling type vacuum cleaner of the second embodiment is the same as the structure described in the first embodiment, the description thereof will be omitted.

7 to 9 are partially enlarged side views for explaining the outline of the second embodiment. In FIGS. 7 to 9, the upper side, the lower side, the front side, and the rear side of the housing 1 are illustrated by arrows, respectively.

First, an outline of the structure of the autonomous traveling type vacuum cleaner of the second embodiment will be described. As shown in FIG. 7, a switch lever 27 is arranged below the lidar cover 26, and the lidar cover 26 and the switch lever 27 are integrally formed, or the lidar cover 26 is attached to the switch lever 27. Has been done. Further, the switch lever 27 is pivotally supported by the housing 1 with the shaft B as the shaft.

Further, in the vicinity of the axis B in front of the switch lever 27, a collision detection unit 28 for detecting that an obstacle has collided with the lidar cover 26 is provided. Behind the switch lever 27, the switch lever 27 is urged upward by a spring 29.

Although not shown, a spring 29 is also arranged in the vicinity of the shaft B, and the switch lever 27 is urged upward by the spring 29.

As shown in FIG. 8, when the vacuum cleaner is moving forward, if an obstacle coming from the front collides with the front end of the lidar cover 26, the lidar cover 26 is pushed from the front to the rear. Then, with the shaft B as a fulcrum, the rear of the LIDAR cover 26 and the rear of the switch lever 27 are pushed downward against the force of the spring 29, and the collision detection unit 28 is pushed downward by the switch lever 27. In this way, it is possible to detect that an obstacle has collided with the lidar cover 26.

Further, as shown in FIG. 9, when an obstacle collides with the lidar cover 26 from above the lidar cover 26, the rear side of the switch lever 27 is pushed downward against the force of the spring 29 with the shaft B as a fulcrum. , The collision detection unit 28 is also pushed downward. In this way, it is possible to detect that an obstacle has collided with the lidar cover 26.

As described above, in the third embodiment, when the lidar cover 26 collides with an obstacle from above or in the horizontal direction of the housing 1, it can be easily detected that the lidar cover collides with the obstacle.

FIG. 10 is an exploded perspective view of parts in the vicinity of LIDAR6. In FIG. 10, the upper, lower, rear, front, left, right, and each are illustrated by arrows.

In FIG. 10, a base member 32 is arranged above the circuit board 31 on which the tact switch 30 is mounted, and a substantially horseshoe-shaped groove 33 is formed in the base member 32. Further, a switch lever 27 is pivotally supported at two ends in front of the groove 33 so as to be openable and closable in the vertical direction with the shaft B as the axis.

The switch lever 27 has a substantially horseshoe-like shape, and a bridge portion 34 is formed in the vicinity of the two shaft portions B, and a switch protrusion 35 is formed on the back surface side of the bridge portion 34. .. The switch protrusion 35 passes through the switch hole 36 formed in the base member 32 and presses the tact switch 30 on the circuit board 31 from above.

A spring 29 is arranged between the groove 33 and the switch lever 27 near the shaft portion B, and a spring 29 is also arranged between the groove 33 near the rear end of the switch lever 27 and the switch lever 27. There is. The switch lever 27 is urged upward by the three springs 29.

The rotating portion 47 of the LIDAR 6 is arranged inside the groove portion 33 of the base member 32. The rotating portion 47 is located at a substantially central portion of the LIDAR 6, and the light emitting portion and the light receiving portion provided inside the rotating portion 47 rotate 360 degrees.

The upper body 2 is arranged so as to cover the circuit board 31, the base member 32, and the switch lever 27, and the lidar cover 26 and the switch lever 27 are connected via the three upper body holes 48 formed in the upper body 2. Or, it is integrally formed.

The size of the upper body hole 48 is such that the cover pillar portion 49 formed on the back surface of the lidar cover 26 can move up and down. The cover pillar portion 49 is shown in FIG.

FIG. 11 is a view of the base member 32, the switch lever 27, and the lidar cover 26 shown in FIG. 10 as viewed from the rear in FIG. 10. In FIG. 11, the upper part, the lower part, the left side, the right side, and each of them are illustrated by arrows.

As shown in FIG. 11, a wall portion 25 is formed at the rear end of the groove portion 33 of the base member 32, and a substantially triangular floating hole 37 is formed in the wall portion 25. A protrusion-shaped floating protrusion 38 is formed at the rear end of the switch lever 27, and the floating protrusion 38 is movably inserted into the floating hole 37.

The floating protrusion 38 can move to three vertices of the substantially triangular floating hole 37. Therefore, when a force is applied from above the lidar cover 26, the floating protrusion 38 can move to the center of the bottom of the floating hole 37, and when a force is applied from the upper right of the lidar cover 26, the floating protrusion 38 is movable. 38 can move to the lower left apex of the floating hole 37, and when a force is applied from the upper left of the lidar cover 26, the floating protrusion 38 can move to the lower right apex of the floating hole 37.

In order to enable such movement, a slight gap is formed between the wall portion 25 formed in the base member 32 so as to surround the groove portion 33 and the switch lever 27.

Further, a slight gap is formed between the bridge portion 34 of the switch lever 27 and the wall portion 25 of the base member 32.

FIG. 12 is a perspective view of the base member 32 viewed from diagonally below. In FIG. 12, the upper, lower, rear, front, and each are illustrated by arrows.

As shown in FIG. 12, a floating hole 37 is formed in each of the left and right shafts B on the shaft B at the front end of the base member 32, and two floating holes 37 formed in the switch lever 27 in each of the two floating holes 37. The floating protrusion 38 is inserted so as to be playable. The floating hole 37 also has a substantially triangular shape like the floating hole 37 shown in FIG.

The floating protrusion 38 can move to three vertices of the substantially triangular floating hole 37. Therefore, when a force is applied from above the LIDAR cover 26. The floating protrusion 38 can move to the center of the bottom of the floating hole 37, and when a force is applied from the front in FIG. 12 of the lidar cover 26, the floating protrusion 38 can move to the apex behind the floating hole 37. When a force is applied from the rear side of FIG. 18 of the lidar cover 26, the floating protrusion 38 can move to the apex in front of the floating hole 37.

FIG. 13 is a view of the base member 32, the switch lever 27, and the lidar cover 26 shown in FIG. 10 as viewed from the rear in FIG. 10. In FIG. 13, the upper part, the lower part, the left side, the right side, and each of them are illustrated by arrows.

As shown in FIG. 13, a rotating portion arrangement space 39 for arranging the rotating portion 47 is formed in a substantially central portion of the base member 32. The rotating unit 47 rotates the light emitting unit and the light receiving unit 360 degrees in the rotating unit arrangement space 39, and irradiates light from the gap between the base member 32 (more specifically, the upper body 2) and the lidar cover 26. It can receive the reflected light.

FIG. 14 is a bottom view of the base member 32 as viewed from below. A switch hole portion 36 is formed in the base member 32, and a switch protrusion 35 of the switch lever 27 projects from the switch hole portion 36.

The collision detection unit 28 shown in FIGS. 7 to 9 corresponds to the switch protrusion 35 and the tact switch 30 in FIGS. 10 to 13.

In the third embodiment, the switch lever 27 is pivotally supported by the base member 32 by the two shafts B of the base member 32, and the switch lever 27 is urged upward by the spring 29. Further, a gap is formed between the wall portion 25 formed on the base member 32 and the switch lever 27, and a gap is formed between the wall portion 25 formed on the base member 32 and the bridge portion 34 of the switch lever 27. Is forming.

Further, a substantially triangular floating hole 37 is formed in two places near the axis B of the base member 32 and in the vicinity of the rear end of the base member 32, and the switch lever 27 floats in these three floating holes 37. It forms a floating protrusion 38 that can be inserted.

Further, the switch lever 27 is formed with a switch protrusion 35 that protrudes downward, and the switch protrusion 35 presses the tact switch 30 formed on the circuit board 31.

With such a structure, the tact switch 30 is turned on to detect that the LIDAR 6 has collided with the obstacle regardless of whether the LIDAR cover 26 is hit by an obstacle from above or from the horizontal direction. It is possible to do.

Further, when the user pushes the LIDAR cover 26 from above, the running and cleaning operation of the autonomous traveling type vacuum cleaner is stopped, and when the user pushes the LIDAR cover 26 from above again, the running and cleaning of the autonomous traveling type vacuum cleaner It may be configured to restart the operation. With such a configuration, the user can easily stop or start the running and cleaning operation of the autonomous traveling type vacuum cleaner.

Further, when the user presses the lidar cover 26 from above, the power of the autonomous traveling vacuum cleaner may be turned on or off. With such a configuration, the user can easily turn on / off the power of the autonomous traveling type vacuum cleaner, and it is also possible to make an emergency stop of the autonomous traveling type vacuum cleaner.

In this embodiment, the light emitting unit and the light receiving unit are mounted on the rotating body, but an imaging unit such as a camera may be mounted on the rotating body. In this case, if it takes time to analyze the image, the rotation speed of the camera may be reduced. Alternatively, a light emitting unit, a light receiving unit, and a camera may be mounted on the rotating body so that any of the elements can be selectively used or can be used at the same time. In this case, when the element can be selectively used, the rotation speed when using the camera may be slower than the rotation speed when using the light emitting unit and the light receiving unit.

[Example 3]
Next, Example 3 will be described. Since the structure of the autonomous traveling type vacuum cleaner of the third embodiment is the same as the structure described in the first embodiment, the description thereof will be omitted.

FIG. 15 is a right front perspective view of the autonomous traveling type vacuum cleaner of the third embodiment. FIG. 16 is a left front perspective view of the autonomous traveling type vacuum cleaner of the third embodiment. An exhaust port 7a is provided on the right side surface of the housing 1 of the autonomous traveling type vacuum cleaner, and an exhaust port 7b is provided on the left side surface.

FIG. 17 is a left front perspective view showing the internal configuration of the autonomous traveling type vacuum cleaner of the third embodiment. FIG. 18 is a top view showing the internal configuration of the autonomous traveling type vacuum cleaner of the third embodiment. A suction motor 43 is provided near the center of the inside of the housing 1. Walls are provided on the left, right, and back of the suction motor 43, and vents 56a and 56b are provided on the left and right walls. A right drive unit 44, which is a motor for driving the right drive wheel 19, and a left drive unit 45, which is a motor for driving the left drive wheel 20, are provided on the left and right sides of the suction motor 43 across a wall.

FIG. 19 shows an exhaust path of the autonomous traveling type vacuum cleaner of the third embodiment. 19 (a) is a left side view of the autonomous traveling type vacuum cleaner of the third embodiment, and FIG. 19 (b) is a cross-sectional view taken along the line AA of FIG. 19 (a). Since the ventilation ports 56a and 56b and the exhaust ports 7a and 7b are provided on the left and right sides of the suction motor 43, the exhaust path from the suction motor 43 to the exhaust ports 7a and 7b via the ventilation ports 56a and 56 is the housing 1. Formed inside.

The exhaust of the suction motor 43 is substantially evenly distributed to the left and right from the vents 56a and 56b provided on the left and right walls, and is exhausted to the outside of the housing 1 from the exhaust ports 7a and 7b, respectively. A right drive unit 44 is provided in the exhaust path from the suction motor 43 to the exhaust port 7a via the vent 56a, and a left drive unit 45 is provided in the exhaust path from the suction motor 43 to the exhaust port 7b via the vent 56b. Be done. Therefore, the right drive unit 44 and the left drive unit 45 arranged on the left and right sides of the suction motor 43 can be uniformly and efficiently cooled by the exhaust of the suction motor 43.

In another example, three or more exhaust ports 7 may be provided. In this case as well, a heat generating member such as a circuit board 31 or a battery 18 may be arranged in the exhaust path from the suction motor 43 to the exhaust port 7. As a result, the heat generating member can be cooled evenly and efficiently by the exhaust of the suction motor 43.

[Example 4]
Next, Example 4 will be described. Since the structure of the autonomous traveling type vacuum cleaner of the fourth embodiment is the same as the structure described in the first embodiment, the description thereof will be omitted.

FIG. 20 is a partially enlarged view of the left drive wheel 20 and the wheel support member 21 of the autonomous traveling type vacuum cleaner of the fourth embodiment. The right drive wheel 19 and the left drive wheel 20 are movably suspended from the housing 1 in the vertical direction by the wheel support member 21. A cam 90 that functions as a lifting portion that lifts the front of the housing 1 is provided between the wheel support member 21 and the housing 1. The cam 90 is rotatably supported by the housing 1 by a shaft 91, and is rotated by a motor (not shown).

In the normal state of the autonomous traveling type vacuum cleaner, as shown in FIG. 20A, the cam 90 is arranged so that the longitudinal direction of the cam 90 is parallel to the vertical direction. When lifting the front of the housing 1, as shown in FIG. 20B, the cam 90 is rotated forward about the shaft 91. At this time, since the side surface of the cam 90 presses the side surface of the wheel support member 21 diagonally downward, the wheel support member 21 is lifted rearward with the left drive wheel 20 as a fulcrum, and the housing 1 is forward with the rear wheel 9 as a fulcrum. Is lifted.

FIG. 21 is a right side view of the autonomous traveling type vacuum cleaner of the fourth embodiment. FIG. 21A shows a normal state. FIG. 21B shows a state in which the front of the housing 1 is lifted by the cam 90. By lifting the front of the housing 1, it is possible to overcome a step and detect the shape above an obstacle as described later.

When an object falls on the housing 1 or a user or an animal pushes down the upper surface of the housing 1 while the front of the housing 1 is lifted, an excessive force is applied from above. The cam 90 may be damaged. Therefore, in the autonomous traveling type vacuum cleaner of the fourth embodiment, when a force is applied to the cam 90 from above, the cam 90 is pushed by the wheel support member 21 to rotate in the opposite direction and return to the original state. It is composed of. As a result, even if a force is applied from the information while the front of the housing 1 is lifted, the cam 90 can release the force, so that damage can be prevented.

More specifically, when the cam 90 is rotated to lift the front of the housing 1, the angle between the cam 90 and the contact surface of the wheel support member 21 is set to 90 ° or less. When the cam 90 is rotated until the angle between the cam 90 and the contact surface of the wheel support member 21 exceeds 90 °, the cam 90 is pushed by the wheel support member 21 and excessively forward in the forward direction when a force is applied from above. It may rotate and be damaged. If the angle between the cam 90 and the contact surface of the wheel support member 21 is 90 ° or less, the cam 90 is pushed by the wheel support member 21 and rotates in the opposite direction when a force is applied from above. , Since it returns to the original normal state, damage can be prevented. The angle of 90 ° is an example, and the angle can be changed by considering changing the shapes of the cam 90 and the wheel support member 21, changing the type of the motor, and the like.

[Example 5]
Next, Example 5 will be described. Since the structure of the autonomous traveling type vacuum cleaner of the fifth embodiment is the same as the structure described in the first embodiment, the description thereof will be omitted.

FIG. 22 is a diagram for explaining how the autonomous traveling type vacuum cleaner of the fifth embodiment detects the shape of an obstacle. As shown in FIG. 22, the autonomous traveling type vacuum cleaner of the fifth embodiment can lift the front of the housing 1 from a state in which the housing 1 is substantially parallel to the floor surface, and during this lifting operation, the housing 1 can be lifted. It has a function of detecting the shape of the object 80.

FIG. 23 is a block diagram of the apparatus of this embodiment. In FIG. 23, the control unit 40 is composed of a microcomputer such as a CPU (Central Processing Unit), and controls each circuit.

The communication unit 41 can be wirelessly connected to a communication terminal, a router, or the like, and has, for example, a communication function such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

The storage unit 42 is composed of, for example, a non-volatile memory such as a flash memory, and stores a control program executed by the control unit, various parameters, and the like.

The suction motor 43 is a motor for generating suction air. The suction motor 43 and the suction port 22 communicate with each other, and the suction motor 43 sucks the outside air from the suction port 22.

The right drive unit 44 is a motor for driving the right drive wheel 19.

The left drive unit 45 is a motor for driving the left drive wheel 20.

The step sensor 24 is a sensor for detecting a step on the floor surface, and has, for example, an infrared light emitting element and a light receiving element.

The bumper sensor 46 is a sensor for detecting that the bumper 4 has collided with an obstacle.

The LIDAR 6 has a light emitting unit and a light receiving unit, and a rotating mechanism and a motor for rotating these elements. The LIDAR 6 can detect obstacles and the like around the housing 1 by rotating the light emitting unit and the light receiving unit around the center of the LIDAR 6. It is also possible to create a map of a room by using this LIDAR6.

The upper right sensor 12 and the lower right sensor 14, the upper left sensor 11 and the lower left sensor 13 are composed of, for example, an infrared light emitting element and a light receiving element, and detect a distance to an obstacle or the like.

The map making unit 50 has a function of detecting the shape of an obstacle, a function of creating map information, and the like.

In addition to these configurations, the apparatus of this embodiment also includes a motor for driving an ultrasonic sensor 10, a main brush 23, a motor for driving a side brush 8, and the like. Since there is no direct relationship, the description in FIG. 23 will be omitted.

FIG. 24 is a functional block diagram of the map making unit. The map creation unit 50 includes a distance calculation unit 51, an obstacle shape detection unit 52, a self-position determination unit 53, a map information creation unit 54, and a map information storage unit 55.

The distance calculation unit 51 calculates the distance to an obstacle based on the signals input from the upper right sensor 12, the lower right sensor 14, the upper left sensor 11, the lower left sensor 13, LIDAR 6, and the like.

The obstacle shape detection unit 52 detects the shape of an obstacle based on signals input from the upper right sensor 12 and the lower right sensor 14, the upper left sensor 11, the lower left sensor 13, LIDAR 6, and the like.

The self-position determination unit 53 determines the self-position of the housing 1 with reference to the charging stand based on the number of rotations of the wheels and the output of the gyro sensor (not shown).

The map information creation unit 54 creates map information of a room based on signals input from an upper right sensor 12 and a lower right sensor 14, an upper left sensor 11 and a lower left sensor 13, LIDAR 6, an ultrasonic sensor 10, and the like. It is also possible to add information on the shape of the obstacle detected by the obstacle shape detecting unit 52 to the created map information.

The map information storage unit 55 stores the map information created by the map information creation unit 54. Further, the distance information to the obstacle calculated by the distance calculation unit 51, the shape of the obstacle detected by the obstacle shape detection unit 52, the self-position information determined by the self-position determination unit 53, and the like can be stored. ..

When not in use, the autonomous vacuum cleaner is held in a charging stand and charged. When the set cleaning start time arrives, or when the user instructs to start cleaning, the control unit 40 controls the right drive unit 44 and the left drive unit 45 to drive the right drive wheel 19 and the left drive. The wheel 20 is driven to separate the autonomous traveling type vacuum cleaner from the charging stand. The control unit 40 travels indoors according to a predetermined travel plan or randomly while referring to the map stored in the map information storage unit 55, and drives the main brush 23 and the side brush 8 to drive the floor surface. to clean. The map information creation unit 54 creates map information based on signals input from the upper right sensor 12 and the lower right sensor 14, the upper left sensor 11 and the lower left sensor 13, LIDAR6, the ultrasonic sensor 10, and the like, and causes the map information storage unit 55 to create map information. Store. Further, when the created map information is different from the map stored in the map information storage unit 55, the map information creation unit 54 updates the map stored in the map information storage unit 55. When a step is detected by the step sensor 24, the control unit 40 detects an obstacle by the upper right sensor 12, the lower right sensor 14, the upper left sensor 11, the lower left sensor 13, LIDAR6, the ultrasonic sensor 10, and the like, and When it is detected by the bumper sensor 46 that it has collided with an obstacle, the autonomous traveling type vacuum cleaner is moved while avoiding steps and obstacles. When the cleaning is completed, the control unit 40 returns the autonomous traveling type vacuum cleaner to the charging stand based on the map stored in the map information storage unit 55 and the self-position determined by the self-position determination unit 53. When the autonomous vacuum cleaner returns to the vicinity of the charging stand, the control unit 40 recognizes the position and orientation of the charging stand with the reflective surface provided on the charging stand as a target, and the holding position of the charging stand, as will be described later. Move the autonomous vacuum cleaner to.

FIG. 25 is a flow chart showing the operation of the autonomous traveling type vacuum cleaner of the fifth embodiment. The outline of the operation shown in the flow chart of FIG. 25 is that when the housing 1 comes into contact with an obstacle while the autonomous traveling vacuum cleaner is performing cleaning, the housing 1 is retracted by a predetermined distance. Subsequently, when the front of the housing 1 is lifted, the shape of the obstacle is scanned from the bottom to the top using an infrared sensor, LIDAR6, or the like, and the scanned shape of the obstacle is stored in the map information storage unit 55. After that, based on the shape of the scanned obstacle, an action such as cleaning the surroundings of the obstacle or moving away from the obstacle is executed.

Before executing the operation shown in the flow chart of FIG. 25, the control unit 40 makes the housing 1 go around along the wall of the room, and the map information creation unit 54 performs the upper right sensor 12 and the lower right sensor 14. The map information of the room is created based on the signals input from the upper left sensor 11, the lower left sensor 13, LIDAR6, the ultrasonic sensor 10, and the like. The map information storage unit 55 stores the created map information.

In FIG. 25, in step S1, when the control unit 40 detects a signal from the bumper sensor 46 indicating that the bumper 4 has collided with an obstacle, the process proceeds to step S2.

In step S2, the control unit 40 controls the right drive unit 44 and the left drive unit 45 to retract the housing 1 by a predetermined distance (for example, 30 cm) and proceed to step S3.

In step S3, the control unit 40 controls to lift the front of the housing 1. The details of this lifting control are as described in the fourth embodiment.

In step S4, the obstacle shape detection unit 52 determines the shape of the obstacle based on the signals input from the upper right sensor 12, the lower right sensor 14, the upper left sensor 11, the lower left sensor 13, LIDAR 6, and the like, and the information is obtained. It is stored in the map information storage unit 55.

Specifically, as shown in FIG. 22, the lower right sensor 14, the lower left sensor 13, and LIDAR 6 are used to scan the shape of an obstacle when the housing 1 is lifted, and the obstacle shape detecting unit 52 scans the shape of the obstacle. The shape of the obstacle is detected based on the signals from the lower right sensor 14, the lower left sensor 13, and the LIDAR 6. Although it is explained here that the shape of the obstacle is detected, more specifically, the unevenness of the surface of the obstacle is detected. The obstacle shape detection unit 52 obtains the distance from the time from the irradiation of light to the reception of light by the lower right sensor 14, the lower left sensor 13, and LIDAR 6, and detects the unevenness of the surface of the obstacle.

The operation of scanning the obstacle may be executed not only when the front of the housing 1 is lifted but also when the front of the housing 1 is lifted and lowered, and the front of the housing 1 is repeatedly scanned. It may be configured to move up and down and scan for obstacles at that time.

In step S5, the map creation unit 50 adds obstacle information to the map information stored in advance in the map information storage unit 55 and stores it.

As described above, in the fifth embodiment, when the housing 1 comes into contact with an obstacle while the autonomous traveling vacuum cleaner is performing cleaning, the housing 1 is retracted by a predetermined distance. Subsequently, when the front of the housing 1 is lifted, the shape of the obstacle is scanned from the bottom to the top using an infrared sensor, a LIDAR6 sensor, or the like, and the scanned shape of the obstacle is stored in the map information storage unit 55. ..

Therefore, the user can determine what kind of obstacle is placed at what position from the shape of the obstacle on the map displayed on the display unit of the communication terminal or the like, and autonomously travels in every corner of the room. Obstacles that the autonomous vacuum cleaner cannot overcome can be moved before being cleaned by the vacuum cleaner.

[Example 6]
Next, Example 6 will be described. FIG. 26 is a flow chart showing the operation of the autonomous traveling type vacuum cleaner of the sixth embodiment. The outline of the operation shown in the flow chart of FIG. 26 is that when the autonomous traveling vacuum cleaner arrives at the center of the area (for example, the center of the room) and the front of the housing 1 is lifted, an infrared sensor, a LIDAR6 sensor, etc. The shape of the obstacle is scanned from the bottom to the top using the above, and the scanned shape of the obstacle is stored in the map information storage unit 55. After that, the housing 1 is rotated clockwise by a predetermined angle (for example, 15 degrees), and the operation of scanning the shape of the obstacle is performed a plurality of times. When the housing 1 is rotated 360 degrees, the obstacles around the housing 1 The shape of the above is stored in the map information storage unit 55.

Before executing the operation shown in the flow chart of FIG. 26, the control unit 40 makes the housing 1 go around along the wall of the room, and the map information creation unit 54 performs the upper right sensor 12 and the lower right sensor 14. The map information of the room is created based on the signals input from the upper left sensor 11, the lower left sensor 13, LIDAR6, the ultrasonic sensor 10, and the like. The map information storage unit 55 stores the created map information.

The operation will be described with reference to the flow chart of FIG. First, as shown in FIG. 27 (a), the autonomous traveling vacuum cleaner departs from the charging stand 60 and heads toward the center of the room. FIG. 27B is a diagram showing a state in which the autonomous traveling vacuum cleaner has reached a substantially central portion of the room.

In step S10, when the control unit 40 determines that it has arrived at the central portion of the map information stored in the map information storage unit 55, the process proceeds to step S11. The control unit 40 determines how far the map has traveled in the X and Y directions from the charging stand as a starting point based on the number of rotations of the drive wheels and the like, and determines that the map has arrived at the central portion of the map information. , There is a method of judging using a gyro sensor and the like.

In step S11, the control unit 40 controls to lift the front of the housing 1. The details of this lifting control are as described in the fourth embodiment.

In step S12, the obstacle shape detection unit 52 determines the shape of the obstacle based on the signals input from the upper right sensor 12, the lower right sensor 14, the upper left sensor 11, the lower left sensor 13, LIDAR 6, and the like, and the information is obtained. It is stored in the map information storage unit 55.

Specifically, as shown in FIG. 22, the lower right sensor 14, the lower left sensor 13, and LIDAR 6 are used to scan the shape of an obstacle when the housing 1 is lifted, and the obstacle shape detecting unit 52 scans the shape of the obstacle. The shape of the obstacle is detected based on the signals from the lower right sensor 14, the lower left sensor 13, and the LIDAR 6. Although it is explained here that the shape of the obstacle is detected, more specifically, the unevenness of the surface of the obstacle is detected. The obstacle shape detection unit 52 obtains the distance from the time from the irradiation of light to the reception of light by the lower right sensor 14, the lower left sensor 13, and LIDAR 6, and detects the unevenness of the surface of the obstacle.

The operation of scanning the obstacle may be executed not only when the front of the housing 1 is lifted but also when the front of the housing 1 is lifted and lowered, and the front of the housing 1 is repeatedly scanned. It may be configured to move up and down and scan for obstacles at that time.

In step S13, information on the shape of the obstacle and information on the angle at which the housing 1 is rotated, which will be described later, are stored in the map information storage unit 55.

In step S14, when the control unit 40 determines that the housing 1 has been rotated 360 degrees, the process ends, and if not, the process proceeds to step S15.

In step S15, the control unit 40 rotates the housing 1 clockwise by a predetermined angle (for example, 15 degrees). For example, the control unit 40 controls the left drive unit 45 and the right drive unit 44 to retract the housing 1 and then drive only the left drive wheel 20 or advance the left drive wheel 20. By rotating the right drive wheel 19 in the opposite direction to the left drive wheel 20, the housing 1 is rotated by a predetermined angle, and the process is returned to step S11. Further, the control unit 40 stores in the storage unit 42 information on how many times the housing 1 has been rotated in total when executing steps S10 and subsequent steps in the flow diagram of FIG. 26, and in step S14, the control unit 40 stores the information. Determines how many times the housing 1 has rotated in total from the information stored in the storage unit 42.

By executing the process shown in the flow chart of FIG. 26 in this way, the shape of an obstacle around 360 degrees from the center of the room can be detected and added to the map information. Therefore, it is possible to display the three-dimensional information of the obstacle on the map. Alternatively, it is possible to create and display three-dimensional map information.

The map information stored in the map information storage unit 55 can be transmitted to a mobile terminal or the like by using the communication unit 41, and the user can display the two-dimensional map information or the map information on the display unit of the mobile terminal. Three-dimensional map information can be displayed.

Therefore, the user can grasp what kind of obstacles are in the room before cleaning the room with the autonomous vacuum cleaner, and the autonomous vacuum cleaner moves the obstacles that cannot be overcome. Can be made to.

The present disclosure has been described above based on examples. It will be appreciated by those skilled in the art that these examples are exemplary and that various variants are possible for each of these components and combinations of processing processes, and that such variants are also within the scope of the present disclosure. be.

The above-mentioned embodiment is the best mode that can be carried out by those skilled in the art, but it is also conceivable to carry out as follows.

In this embodiment, it has been described that the housing 1 has the upper body 2, the lower body 3, and the cover 5, but the housing 1 has the lower body 3 including the lower body 3 and the cover 5. May be defined as.

In FIG. 5, the right drive wheel 19, the left drive wheel 20, and the two wheel support members 21 have been described as separate parts, but the right drive wheel 19 and the wheel support member 21, the left drive wheel 20 and the wheel support member 21, May be defined as the right drive wheel 19 and the left drive wheel 20, respectively.

In FIG. 5, the battery 18 is located behind the axis connecting the central axis of the right drive wheel 19 and the central axis of the left drive wheel 20, but a part of the battery 18 is located on this axis. Is also good.

In the third embodiment, when an obstacle collides with the lidar cover 26 from above, an object may have fallen on the housing 1 due to an earthquake or the like. Therefore, cleaning is interrupted and the housing 1 is returned to the charging stand. Alternatively, the movement of the housing 1 may be stopped and a warning sound may be sounded for a predetermined time.

In the third embodiment, the lidar cover 26 and the switch lever 27 are made of separate parts, but the lidar cover 26 and the switch lever 27 may be integrally formed.

In the third embodiment, when the user presses the lidar cover 26, the running of the autonomous traveling vacuum cleaner is stopped, or when the power is turned off and the user presses the lidar cover 26 again, the autonomous traveling vacuum cleaner The running may be restarted or the power may be turned on. With such a configuration, the user can easily operate the autonomous traveling type vacuum cleaner so as to turn on / off the power and interrupt / restart the cleaning.

The technology of the present embodiment can be applied to various self-propelled moving bodies such as self-driving cars, unmanned aerial vehicles, and self-propelled robots, in addition to autonomously traveling vacuum cleaners. Further, two or more of the techniques of Examples 1 to 6 described above can be applied in any combination.

The autonomous traveling type vacuum cleaner of the present invention can be widely used as a household vacuum cleaner, a commercial vacuum cleaner used in an office, a factory, or the like.

1 housing, 2 upper body, 3 lower body, 4 bumper, 5 cover, 6 LIDAR, 7 exhaust port, 8 side brush, 9 rear wheel, 10 ultrasonic sensor, 11 upper left sensor, 12 upper right sensor, 13 lower left sensor, 14 lower right sensor, 15 slope, 16 recess, 17 window, 18 battery, 19 right drive wheel, 20 left drive wheel, 21 wheel support member, 22 suction port, 23 main brush, 24 step sensor, 25 wall part, 26 LIDAR cover, 27 switch lever, 28 collision detector, 29 spring, 30 tact switch, 31 circuit board, 32 base member, 33 groove, 34 bridge, 35 switch protrusion, 36 switch hole, 37 idle hole, 38 idle Protrusion, 39 Rotating part arrangement space, 40 Control part, 41 Communication part, 42 Storage part, 43 Suction motor, 44 Right drive part, 45 Left drive part, 46 Bumper sensor, 47 Rotating part, 48 Upper body hole, 49 Cover pillar Unit, 50 Map creation unit, 51 Distance calculation unit, 52 Obstacle shape detection unit, 53 Self-position determination unit, 54 Map information creation unit, 55 Map information storage unit, 56 Vent, 60 Charging stand, 80 Object, 90 cam , 91 axes.

Claims (6)

With the housing
A sensor provided in the housing for detecting the situation around the housing, and
A brush for cleaning the area around the housing and
With
The sensor is an autonomous traveling type vacuum cleaner that is arranged at a position where a part of the brush passes in the vicinity when the periphery of the housing is cleaned by the brush. The sensor is arranged on an inclined surface provided on the bottom surface of the housing.
The autonomous traveling type vacuum cleaner according to claim 1, wherein a part of the brush passes below the sensor when the periphery of the housing is cleaned by the brush. The autonomous traveling type vacuum cleaner according to claim 1 or 2, wherein the sensor and the brush are provided in front of the housing. The autonomous traveling type vacuum cleaner according to claim 2 or 3, wherein the inclined surface has a recess, and the sensor is arranged inside the recess. The recess has a detection window portion provided so as to be parallel to a surface perpendicular to the floor surface when the housing is placed on the floor surface, and the sensor is arranged inside the detection window portion. The autonomous traveling type vacuum cleaner according to claim 4. The autonomous traveling type vacuum cleaner according to any one of claims 1 to 5, wherein the sensor is arranged inside the housing rather than the brush on the back surface of the housing.

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